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000771522 019__ $$a967717249$$a967718426
000771522 020__ $$a9783319470870$$q(electronic book)
000771522 020__ $$a3319470876$$q(electronic book)
000771522 020__ $$z9783319470863
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000771522 0247_ $$a10.1007/978-3-319-47087-0$$2doi
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000771522 035__ $$aSP(OCoLC)965127230$$z(OCoLC)967717249$$z(OCoLC)967718426
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000771522 08204 $$a629.8/933$$223
000771522 08204 $$a004$$223
000771522 1001_ $$aAltobelli, Alessandro.
000771522 24510 $$aHaptic devices for studies on human grasp and rehabilitation /$$cAlessandro Altobelli.
000771522 260__ $$aCham, Switzerland :$$bSpringer,$$c2016.
000771522 300__ $$a1 online resource (89 pages)
000771522 336__ $$atext$$btxt$$2rdacontent
000771522 337__ $$acomputer$$bc$$2rdamedia
000771522 338__ $$aonline resource$$bcr$$2rdacarrier
000771522 347__ $$atext file$$bPDF$$2rda
000771522 4901_ $$aSpringer series on touch and haptic systems,$$x2192-2977
000771522 504__ $$aIncludes bibliographical references.
000771522 5050_ $$aSeries Editors' Foreword; Preface; Main Research Arguments; Book Structure; Acknowledgements; Contents; 1 Introduction; References; 2 Human Hand Motor Control Studies; 2.1 Hand Control in Pre-grasp Phase; 2.2 Grasp Force Distribution; 2.3 Muscle Activity; 2.4 Impedance Control; 2.5 Outstanding Aspects in Grasping Task ; References; Part I Devices for Human Grasp Studies; 3 Sensorized Object Approach; 3.1 Three-Digit Grasp Haptic Device with Variable Contact Stiffness for Rehabilitation and Human Grasping Studies; 3.1.1 Materials and Methods; 3.1.2 Validation and Results.
000771522 5058_ $$a3.2 An Instrumented Manipulandum for Human Grasping Studies3.2.1 Materials and Methods; 3.2.2 Contact Point Estimation; 3.2.3 F/T Compensation; 3.2.4 Experiments on Contact Position; 3.2.5 Validation on Grasping and Results; 3.3 Neuroscientific Studies and Applications; 3.4 Conclusions; References; 4 Wearable Approach: ThimbleSense, a Fingertip-Wearable Tactile Sensor for Grasp Analysis; 4.1 Concept and Implementation; 4.2 Weight Bias Compensation; 4.3 Validation and Results; 4.3.1 Experiments 1; 4.3.2 Experiments 2; 4.4 Conclusion; References.
000771522 5058_ $$aPart II Studies and Experiments on Three Digit Grasp5 Electromyographic Mapping of Finger Stiffness in Tripod Grasp; 5.1 Study Design; 5.1.1 Sensorized Object and Experimental Setup; 5.1.2 Protocol; 5.2 Data Analysis; 5.3 Results; 5.4 Discussion; 5.5 Conclusion; References; 6 Effect of Homogenous Object Stiffness on Tri-Digit Proprieties; 6.1 Materials and Methods; 6.1.1 Study Design; 6.1.2 Sensorized Object and Experimental Setup; 6.1.3 Protocol; 6.2 Data Analysis; 6.3 Results; 6.4 Discussion and Conclusions; References; Conclusions.
000771522 506__ $$aAccess limited to authorized users.
000771522 520__ $$aThis book presents a new set of devices for accurate investigation of human finger stiffness and force distribution in grasping tasks. The ambitious goal of this research is twofold, the first is to advance the state of the art on human strategies in manipulation tasks and provide tools to assess rehabilitation procedure and the second is to investigate human strategies for impedance control that can be used for human robot interaction and control of myoelectric prosthesis. Part one describes two types of systems that are able to achieve a complete set of measurements on force distribution and contact point locations. The effectiveness of these devices in grasp analysis is also experimentally demonstrated and applications to neuroscientific studies are discussed. In part two, the devices are exploited in two different studies to investigate stiffness regulation principles in humans. The first study provides evidence on the existence of coordinated stiffening patterns in the fingers of human hands and establishes initial steps towards a real-time and effective modelling of finger stiffness in tripod grasp. The second study presents experimental findings on how humans modulate their hand stiffness whilst grasping objects of varying levels of compliance. The overall results give solid evidence on the validity and utility of the proposed devices to investigate human grasp properties. The underlying motor control principles that are exploited by humans in the achievement of a reliable and robust grasp can potentially be integrated into the control framework of robotic or prosthetic hands to achieve a similar interaction performance.
000771522 588__ $$aDescription based on print version record.
000771522 650_0 $$aHaptic devices.
000771522 650_0 $$aRobot hands.
000771522 77608 $$iPrint version:$$z9783319470863
000771522 830_0 $$aSpringer series on touch and haptic systems.
000771522 85280 $$bebk$$hSpringerLink
000771522 85640 $$3SpringerLink$$uhttps://univsouthin.idm.oclc.org/login?url=http://link.springer.com/10.1007/978-3-319-47087-0$$zOnline Access$$91397441.1
000771522 909CO $$ooai:library.usi.edu:771522$$pGLOBAL_SET
000771522 980__ $$aEBOOK
000771522 980__ $$aBIB
000771522 982__ $$aEbook
000771522 983__ $$aOnline
000771522 994__ $$a92$$bISE